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<pre><span class="sourceLineNo">001</span>package frc3128.HardwareLink.Pneumatics;<a name="line.1"></a>
<span class="sourceLineNo">002</span><a name="line.2"></a>
<span class="sourceLineNo">003</span>import edu.wpi.first.wpilibj.Compressor;<a name="line.3"></a>
<span class="sourceLineNo">004</span>import edu.wpi.first.wpilibj.Solenoid;<a name="line.4"></a>
<span class="sourceLineNo">005</span>import java.util.Vector;<a name="line.5"></a>
<span class="sourceLineNo">006</span><a name="line.6"></a>
<span class="sourceLineNo">007</span>/**<a name="line.7"></a>
<span class="sourceLineNo">008</span> * <a name="line.8"></a>
<span class="sourceLineNo">009</span> * @author Noah Sutton-Smolin<a name="line.9"></a>
<span class="sourceLineNo">010</span> */<a name="line.10"></a>
<span class="sourceLineNo">011</span>//TODO Test pneumatics systems<a name="line.11"></a>
<span class="sourceLineNo">012</span>public class PneumaticsManager {<a name="line.12"></a>
<span class="sourceLineNo">013</span>    private   static Compressor c;<a name="line.13"></a>
<span class="sourceLineNo">014</span>    protected static Vector dualSolenoidList = new Vector();<a name="line.14"></a>
<span class="sourceLineNo">015</span><a name="line.15"></a>
<span class="sourceLineNo">016</span>        /**<a name="line.16"></a>
<span class="sourceLineNo">017</span>         * Sets up and initialized the PneumaticsManager.<a name="line.17"></a>
<span class="sourceLineNo">018</span>         * <a name="line.18"></a>
<span class="sourceLineNo">019</span>         * @param comp The compressor to be initialized <a name="line.19"></a>
<span class="sourceLineNo">020</span>         */<a name="line.20"></a>
<span class="sourceLineNo">021</span>    public PneumaticsManager(Compressor comp) {<a name="line.21"></a>
<span class="sourceLineNo">022</span>        PneumaticsManager.c = comp;<a name="line.22"></a>
<span class="sourceLineNo">023</span>        PneumaticsManager.c.stop();<a name="line.23"></a>
<span class="sourceLineNo">024</span>    }<a name="line.24"></a>
<span class="sourceLineNo">025</span>        <a name="line.25"></a>
<span class="sourceLineNo">026</span>        /**<a name="line.26"></a>
<span class="sourceLineNo">027</span>         * Adds a piston to the DualSolenoid list<a name="line.27"></a>
<span class="sourceLineNo">028</span>         * <a name="line.28"></a>
<span class="sourceLineNo">029</span>         * @param solA      the first solenoid<a name="line.29"></a>
<span class="sourceLineNo">030</span>         * @param solB      the second solenoid<a name="line.30"></a>
<span class="sourceLineNo">031</span>         * @param solAState the first solenoid's initial state<a name="line.31"></a>
<span class="sourceLineNo">032</span>         * @param solBState the second solenoid's initial state<a name="line.32"></a>
<span class="sourceLineNo">033</span>         * @return a PistonID for referencing the given piston<a name="line.33"></a>
<span class="sourceLineNo">034</span>         */<a name="line.34"></a>
<span class="sourceLineNo">035</span>    public static PistonID addPiston(Solenoid solA, Solenoid solB, boolean solAState, boolean solBState) {<a name="line.35"></a>
<span class="sourceLineNo">036</span>        dualSolenoidList.addElement(new DualSolenoid(solA, solB, solAState, solBState));<a name="line.36"></a>
<span class="sourceLineNo">037</span>        return new PistonID(dualSolenoidList.size() - 1);<a name="line.37"></a>
<span class="sourceLineNo">038</span>    }<a name="line.38"></a>
<span class="sourceLineNo">039</span><a name="line.39"></a>
<span class="sourceLineNo">040</span>        /**<a name="line.40"></a>
<span class="sourceLineNo">041</span>         * Sets a piston to the locked state (ignores inversion).<a name="line.41"></a>
<span class="sourceLineNo">042</span>         * <a name="line.42"></a>
<span class="sourceLineNo">043</span>         * @param id the PistonID to be set<a name="line.43"></a>
<span class="sourceLineNo">044</span>         */<a name="line.44"></a>
<span class="sourceLineNo">045</span>    public static void setPistonStateLocked(PistonID id) {<a name="line.45"></a>
<span class="sourceLineNo">046</span>        ((DualSolenoid) dualSolenoidList.elementAt(id.getID())).lockPiston();<a name="line.46"></a>
<span class="sourceLineNo">047</span>    }<a name="line.47"></a>
<span class="sourceLineNo">048</span><a name="line.48"></a>
<span class="sourceLineNo">049</span>        /**<a name="line.49"></a>
<span class="sourceLineNo">050</span>         * Sets a piston to the unlocked state (ignores inversion).<a name="line.50"></a>
<span class="sourceLineNo">051</span>         * <a name="line.51"></a>
<span class="sourceLineNo">052</span>         * @param id the PistonID to be set<a name="line.52"></a>
<span class="sourceLineNo">053</span>         */<a name="line.53"></a>
<span class="sourceLineNo">054</span>    public static void setPistonStateUnlocked(PistonID id) {<a name="line.54"></a>
<span class="sourceLineNo">055</span>        ((DualSolenoid) dualSolenoidList.elementAt(id.getID())).unlockPiston();<a name="line.55"></a>
<span class="sourceLineNo">056</span>    }<a name="line.56"></a>
<span class="sourceLineNo">057</span><a name="line.57"></a>
<span class="sourceLineNo">058</span>        /**<a name="line.58"></a>
<span class="sourceLineNo">059</span>         * Sets a piston to the "on" state ("off" if inverted).<a name="line.59"></a>
<span class="sourceLineNo">060</span>         * <a name="line.60"></a>
<span class="sourceLineNo">061</span>         * @param id the PistonID to be set<a name="line.61"></a>
<span class="sourceLineNo">062</span>         */<a name="line.62"></a>
<span class="sourceLineNo">063</span>    public static void setPistonStateOn(PistonID id) {<a name="line.63"></a>
<span class="sourceLineNo">064</span>        if(!id.getInversion()) <a name="line.64"></a>
<span class="sourceLineNo">065</span>                        ((DualSolenoid) dualSolenoidList.elementAt(id.getID())).setPistonOn();<a name="line.65"></a>
<span class="sourceLineNo">066</span>                else<a name="line.66"></a>
<span class="sourceLineNo">067</span>                        ((DualSolenoid) dualSolenoidList.elementAt(id.getID())).setPistonOff();<a name="line.67"></a>
<span class="sourceLineNo">068</span>    }<a name="line.68"></a>
<span class="sourceLineNo">069</span><a name="line.69"></a>
<span class="sourceLineNo">070</span>        /**<a name="line.70"></a>
<span class="sourceLineNo">071</span>         * Sets a piston to the "off" state ("on" if inverted).<a name="line.71"></a>
<span class="sourceLineNo">072</span>         * <a name="line.72"></a>
<span class="sourceLineNo">073</span>         * @param id the PistonID to be set<a name="line.73"></a>
<span class="sourceLineNo">074</span>         */<a name="line.74"></a>
<span class="sourceLineNo">075</span>    public static void setPistonStateOff(PistonID id) {<a name="line.75"></a>
<span class="sourceLineNo">076</span>        if(!id.getInversion())<a name="line.76"></a>
<span class="sourceLineNo">077</span>                        ((DualSolenoid) dualSolenoidList.elementAt(id.getID())).setPistonOff();<a name="line.77"></a>
<span class="sourceLineNo">078</span>                else<a name="line.78"></a>
<span class="sourceLineNo">079</span>                        ((DualSolenoid) dualSolenoidList.elementAt(id.getID())).setPistonOn();<a name="line.79"></a>
<span class="sourceLineNo">080</span>    }<a name="line.80"></a>
<span class="sourceLineNo">081</span><a name="line.81"></a>
<span class="sourceLineNo">082</span>        /**<a name="line.82"></a>
<span class="sourceLineNo">083</span>         * Sets a piston to its inverted state (ignores inversion).<a name="line.83"></a>
<span class="sourceLineNo">084</span>         * <a name="line.84"></a>
<span class="sourceLineNo">085</span>         * @param id the PistonID to be inverted<a name="line.85"></a>
<span class="sourceLineNo">086</span>         */<a name="line.86"></a>
<span class="sourceLineNo">087</span>    public static void setPistonInvertState(PistonID id) {<a name="line.87"></a>
<span class="sourceLineNo">088</span>        ((DualSolenoid) dualSolenoidList.elementAt(id.getID())).setPistonInverted();<a name="line.88"></a>
<span class="sourceLineNo">089</span>    }<a name="line.89"></a>
<span class="sourceLineNo">090</span>        <a name="line.90"></a>
<span class="sourceLineNo">091</span>        /**<a name="line.91"></a>
<span class="sourceLineNo">092</span>         * Starts the compressor.<a name="line.92"></a>
<span class="sourceLineNo">093</span>         */<a name="line.93"></a>
<span class="sourceLineNo">094</span>        public static void setCompressorStateOn() {PneumaticsManager.c.start();}<a name="line.94"></a>
<span class="sourceLineNo">095</span><a name="line.95"></a>
<span class="sourceLineNo">096</span>        /**<a name="line.96"></a>
<span class="sourceLineNo">097</span>         * Stops the compressor.<a name="line.97"></a>
<span class="sourceLineNo">098</span>         */<a name="line.98"></a>
<span class="sourceLineNo">099</span>    public static void setCompressorStateOff() {PneumaticsManager.c.stop();}<a name="line.99"></a>
<span class="sourceLineNo">100</span><a name="line.100"></a>
<span class="sourceLineNo">101</span>        /**<a name="line.101"></a>
<span class="sourceLineNo">102</span>         * <a name="line.102"></a>
<span class="sourceLineNo">103</span>         * @return whether the compressor is on or off<a name="line.103"></a>
<span class="sourceLineNo">104</span>         */<a name="line.104"></a>
<span class="sourceLineNo">105</span>    public static boolean getCompressorState() {<a name="line.105"></a>
<span class="sourceLineNo">106</span>        return (PneumaticsManager.c.enabled() ? true : false);<a name="line.106"></a>
<span class="sourceLineNo">107</span>    }<a name="line.107"></a>
<span class="sourceLineNo">108</span>    <a name="line.108"></a>
<span class="sourceLineNo">109</span>        /**<a name="line.109"></a>
<span class="sourceLineNo">110</span>         * Locks all pistons.<a name="line.110"></a>
<span class="sourceLineNo">111</span>         */<a name="line.111"></a>
<span class="sourceLineNo">112</span>    public static void lockAllPistons() {<a name="line.112"></a>
<span class="sourceLineNo">113</span>        for(int i = 0; i &lt; dualSolenoidList.size(); i++)<a name="line.113"></a>
<span class="sourceLineNo">114</span>            ((DualSolenoid) dualSolenoidList.elementAt(i)).lockPiston();<a name="line.114"></a>
<span class="sourceLineNo">115</span>    }<a name="line.115"></a>
<span class="sourceLineNo">116</span>}<a name="line.116"></a>




























































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